On the Explicit Robust Force Control via Disturbance Observer

Sarıyıldız, Emre; Ohnishi, Kouhei

doi:10.1109/tie.2014.2361611

Cited by 103 publications

(50 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Since it is a model-based control method, deriving the exact dynamic model of the robot improves the performance of force estimation. Practical and theoretical superiorities of the RFOb over force sensors, such as expanding the bandwidth of force estimation, were proved by the authors in [20]. Sensorless force control is very important in humanoids since there may be many contact points in their practical implementations [25].…”

Section: Disturbance Observer-based Motion Controller Designmentioning

confidence: 99%

“…However, it is a quite challenging task due to the highly nonlinear robot dynamics and redundant mechanical structure. The stability of the environmental interaction control is one of the most challenging issues due to large environmental * Correspondence: esariyildiz@itu.edu.tr uncertainties, e.g., the geometrical shape and impedance characteristics of an unstructured environment [20]. Recently, increased attention has been paid to whole body motion control of humanoid robots; however, the proposed solutions suffer from performance limitations and controller complexities [19,21,22].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Whole body motion control of humanoid robots using bilateral control

Sarıyıldız¹,

Temeltaş²

2017

Turk J Elec Eng & Comp Sci

Self Cite

View full text Add to dashboard Cite

This paper deals with the whole body motion control problem of humanoid robots by using automatic and bilateral control methods. Advanced motion controllers are proposed so that human daily life activities, such as walking on an uneven terrain and contacting an unknown object, can be performed. It is shown that the uncertainty of environmental impedance variation is one of the main challenging issues in the design of the automatic control systems, i.e. a humanoid robot may easily lose its stability when it contacts an unstructured environment. A novel bilateral control method is proposed for humanoid robots so as to overcome the environmental uncertainty problem. It is shown that more dexterous and versatile tasks can be easily performed by transforming the skills of humans to humanoid robots in the proposed bilateral control system. A disturbance observer is used not only to achieve the robustness of the motion control system but also to perform sensorless contact motion control tasks. The performance of sensorless contact force estimation is significantly improved by deriving the exact dynamic model of humanoid robots. A floating point base exact dynamic model is derived by using the extended Newton-Euler algorithm. A new robot simulator is designed by using the proposed dynamic model and the Virtual Reality toolbox of MATLAB. Simulation results are given to show the validity of the proposals.

show abstract

Section: Disturbance Observer-based Motion Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Whole body motion control of humanoid robots using bilateral control

Sarıyıldız¹,

Temeltaş²

2017

Turk J Elec Eng & Comp Sci

Self Cite

View full text Add to dashboard Cite

show abstract

“…One common design method for disturbance rejection is to estimate the disturbances from the state or output measurements, and then use the estimate disturbance to cancel the influence of the disturbance in the system. Many results have been published in this area for linear and nonlinear systems [13], [14], [15], [16], [4], [2], [17], [18], [19], [20], of which some are applied successfully to various situations [21], [2], [22], [23].…”

Section: Introductionmentioning

confidence: 99%

Consensus Disturbance Rejection With Disturbance Observers

Ding

2015

IEEE Trans. Ind. Electron.

202

117

View full text Add to dashboard Cite

This paper deals with consensus disturbance rejection of network-connected dynamic systems using disturbance observers. The control objective of consensus disturbance rejection is to achieve a common state trajectory for the networkconnected subsystems that are under deterministic disturbances. The difference from the existing disturbance rejection methods is that only the relative state information is used for disturbance rejection, and as a consequence of using the relative state information, only the part of the disturbances that affect the common trajectories will be rejected. The conditions for designing disturbance observers for consensus control are identified for networked-connect multi-agent systems. Certain features of the individual subsystems are analysed for possible implementation of disturbance-observer based rejection, and the disturbance observers are designed based on the relative state information obtained from the neighbouring subsystems under different network connections. When the network connectivity is available for the disturbance observer design, consensus disturbance rejection is achieved for a directed network with a spanning tree. A fully distributed consensus disturbance rejection design is presented for an undirected network with the use of adaptive parameters for the estimation of the unknown network connectivity. Disturbance observers are also proposed for disturbance rejection in the leader-follower consensus control.

show abstract

“…However, they generally suffer from low performance, stability and safety problems in force control [3,4]. High performance force control applications can be performed by using direct drive electromagnetic actuators [5].…”

Section: Introductionmentioning

confidence: 99%

A robust force controller design for series elastic actuators

Sarıyıldız

Huang

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high transparency, etc., in advanced robot applications, such as humanoids, quadrupeds and exoskeletons. However, the motion control problem of an SEA is more complicated than that of a conventional stiff actuator due to its higher order dynamics. This paper proposes a novel Active Disturbance Rejection (ADR) based robust force controller for SEAs by combining Differential Flatness (DF) and Disturbance Observer (DOb) in state space. The robust state and control input references are systematically generated in terms of a fictitious variable, namely differentially flat output, estimated disturbances and their successive derivatives. A second order DOb is designed in state space so that disturbances and their first and second order derivatives are estimated. It is experimentally shown that high performance force control applications can be performed without requiring the precise dynamic models of the actuator and environment when the proposed robust force controller is implemented. This conference paper is available at Research Online: http://ro.uow.edu.au/eispapers1/1197  Abstract-A Series Elastic Actuator (SEA) is designed by placing a passive compliant element between a conventional stiff actuator and link. The intrinsically compliant mechanical structure provides several superiorities, e.g., safety, energy efficiency, high force fidelity, low cost force measurement, high transparency, etc., in advanced robot applications, such as humanoids, quadrupeds and exoskeletons. However, the motion control problem of an SEA is more complicated than that of a conventional stiff actuator due to its higher order dynamics. This paper proposes a novel Active Disturbance Rejection (ADR) based robust force controller for SEAs by combining Differential Flatness (DF) and Disturbance Observer (DOb) in state space. The robust state and control input references are systematically generated in terms of a fictitious variable, namely differentially flat output, estimated disturbances and their successive derivatives. A second order DOb is designed in state space so that disturbances and their first and second order derivatives are estimated. It is experimentally shown that high performance force control applications can be performed without requiring the precise dynamic models of the actuator and environment when the proposed robust force controller is implemented.

show abstract

On the Explicit Robust Force Control via Disturbance Observer

Cited by 103 publications

References 20 publications

Whole body motion control of humanoid robots using bilateral control

Whole body motion control of humanoid robots using bilateral control

Consensus Disturbance Rejection With Disturbance Observers

A robust force controller design for series elastic actuators

Contact Info

Product

Resources

About